/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * Copyright (c) 2022 STMicroelectronics.
 * All rights reserved.
 *
 * This software is licensed under terms that can be found in the LICENSE file
 * in the root directory of this software component.
 * If no LICENSE file comes with this software, it is provided AS-IS.
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "adc.h"
#include "dma.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "robotservofw.h"
#include "infrared.h"
#include "oled.h"
#include "gui.h"
#include "Battery.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
uint8_t Ctrl_Display = 1; // 0：显示舵机位置的PWM值；1：显示角度

/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void)
{
    /* USER CODE BEGIN 1 */

    /* USER CODE END 1 */

    /* MCU Configuration--------------------------------------------------------*/

    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();

    /* USER CODE BEGIN Init */

    /* USER CODE END Init */

    /* Configure the system clock */
    SystemClock_Config();

    /* USER CODE BEGIN SysInit */

    /* USER CODE END SysInit */

    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_DMA_Init();
    MX_TIM2_Init();
    MX_USART1_UART_Init();
    MX_USART2_UART_Init();
    MX_TIM3_Init();
    MX_ADC1_Init();
    /* USER CODE BEGIN 2 */
    // 电池电量检测初始化
    battery_init();
    // 初始化OLED
    OLED_Init();
    OLED_Clear(0);
    GUI_ShowString(0, 0, "Angle:   ", 16, 1);
    GUI_ShowString(0, 16, "0:", 16, 1);
    GUI_ShowString(0, 32, "1:", 16, 1);
    GUI_ShowString(0, 48, "2:", 16, 1);
    GUI_ShowString(64, 16, "3:", 16, 1);
    GUI_ShowString(64, 32, "4:", 16, 1);
    GUI_ShowString(64, 48, "5:", 16, 1);
    OLED_Display();

    SERVO_ENABLE(1); // 使能机械臂电源
    HAL_Delay(500);
    Control_Servo_ALLPULR(ServoCmd, 1); // 设置舵机扭力控制
    DMA_ServoSendData(ServoCmd, strlen((char *)ServoCmd));
    Control_ServoReset(ServoCmd); // 设置舵机复位角度
    // HAL_UART_Transmit(&huart2, ServoCmd, strlen((char *)ServoCmd), 100);
    DMA_ServoSendData(ServoCmd, strlen((char *)ServoCmd));
    /* USER CODE END 2 */

    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    if (DEBUG_PRINTF)
        printf("Robot arm init!\r\n");
    while (1)
    {
        /* USER CODE END WHILE */

        /* USER CODE BEGIN 3 */
        if (LedFlag) // LED闪烁
        {
            LedFlag = 0;
            HAL_GPIO_TogglePin(LED1_GPIO_Port, LED1_Pin);
        }
        if (ReadPositionFlag) // 舵机角度读取、电量读取，并且通过OLED显示
        {
            uint8_t Servo_i = 0;

            double NewAngle = 0;
            ReadPositionFlag = 0;
            Read_PositionAll(&huart2); // 读取舵机位置的PWM

            if (Ctrl_Display)
            {
                GUI_ShowString(0, 0, "Angle:   ", 16, 1);
            }
            else
            {
                GUI_ShowString(0, 0, "Position:", 16, 1);
            }

            for (Servo_i = 0; Servo_i < ServoNumber; Servo_i++)
            {
                if (Servo_i < 3)
                {
                    if (Ctrl_Display)
                    {
                        NewAngle = Servo_PWM2Angle(ServoAll[Servo_i].pwm + ServoBias[Servo_i]);
                        GUI_ShowNum(16, (Servo_i + 1) * 16, (int)NewAngle, 3, 16, 1);
                        GUI_ShowString(16 + 24, (Servo_i + 1) * 16, ".", 16, 1);
                        GUI_ShowNum(16 + 32, (Servo_i + 1) * 16, ((int)(NewAngle * 10)) % 10, 1, 16, 1);
                    }
                    else
                    {
                        GUI_ShowNum(16, ((Servo_i) + 1) * 16, ServoAll[Servo_i].pwm + ServoBias[Servo_i], 4, 16, 1);
                        GUI_ShowString(16 + 32, (Servo_i + 1) * 16, " ", 16, 1);
                    }
                }
                else
                {
                    if (Ctrl_Display)
                    {
                        NewAngle = Servo_PWM2Angle(ServoAll[Servo_i].pwm + ServoBias[Servo_i]);
                        GUI_ShowNum(80, ((Servo_i % 3) + 1) * 16, (int)NewAngle, 3, 16, 1);
                        GUI_ShowString(80 + 24, ((Servo_i % 3) + 1) * 16, ".", 16, 1);
                        GUI_ShowNum(80 + 32, ((Servo_i % 3) + 1) * 16, ((int)(NewAngle * 10)) % 10, 1, 16, 1);
                    }
                    else
                    {
                        GUI_ShowNum(80, ((Servo_i % 3) + 1) * 16, ServoAll[Servo_i].pwm + ServoBias[Servo_i], 4, 16, 1);
                        GUI_ShowString(80 + 32, ((Servo_i % 3) + 1) * 16, " ", 16, 1);
                    }
                }
            }
            OLED_Display();
        }

        if(DisplayBatFlg)
        {
            // 显示电量
            battery_Read();
            printf("Battery_Soc: %d, Battery_Voltge: %f, Raw: %d \r\n", battery.soc, battery.voltge, battery.raw);
            GUI_ShowString(119, 0, "%", 16, 1);
            GUI_ShowNum(95, 0, battery.soc, 3, 16, 1);
        }
    }
    /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void)
{
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

    /** Initializes the RCC Oscillators according to the specified parameters
     * in the RCC_OscInitTypeDef structure.
     */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
        Error_Handler();
    }

    /** Initializes the CPU, AHB and APB buses clocks
     */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
    {
        Error_Handler();
    }
    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_ADC;
    PeriphClkInit.AdcClockSelection = RCC_ADCPCLK2_DIV6;
    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
    {
        Error_Handler();
    }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void)
{
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
    /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line)
{
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
